A variable-rigidity workpiece grasping mechanism

Abstract

The present invention belongs to the technical field of thermosetting molding production of industrial products, specifically, a variable stiffness workpiece grasping mechanism, including a base, an electrical proportional valve, a pneumatic parallel opening and closing clamp, a clamp connecting seat, a clamping block mounting plate, a clamping block A and a clamping block B, wherein a vibration motor is installed inside the clamping block A. The present invention uses the vibration force generated by the vibration motor to enable the clamped variable stiffness workpiece to be separated from the container through the corresponding vibration mode; in addition, when releasing the workpiece, the mechanical fit formed between the variable stiffness workpiece and each clamping block or clamping sheet can be effectively broken by vibration, thereby ensuring the reliable release of the workpiece; the clamping force proportional output of the pneumatic parallel opening and closing clamp is controlled by the electrical proportional valve, so that the clamping is stable and accurate. The present invention can be installed on a mobile device or a robot arm, so that it can pick up a variable stiffness object, and has the functions of processing, transmitting, clamping, placing and releasing the workpiece to an accurate discrete position.

Description

Technical Field

[0001] The invention belongs to the technical field of thermosetting molding production of industrial products, in particular to a variable-rigidity workpiece grasping mechanism. Background Art

[0002] Workpiece grasping is an important operation in industrial production. Whether it can be realized is related to whether industrial production can be fully automated. With the development of industrial automation, various manipulators for grasping workpieces have emerged, electrical components have been fully utilized, and the degree of functional integration has become higher and higher. However, at the same time, the requirements for the functions of automatic grasping are getting higher and higher, and the requirements for the safety and stability of automatic grasping are getting higher and higher. In the field of thermosetting molding production technology, for some general variable stiffness workpieces, the existing automatic grasping mechanism cannot grasp stably and release reliably. Summary of the invention

[0003] In view of the above problems, an object of the present invention is to provide a variable-rigidity workpiece grasping mechanism.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] A variable-rigidity workpiece grasping mechanism, comprising a base, an electric proportional valve, a pneumatic parallel opening and closing clamping jaw, a clamping jaw connecting seat, a clamping block mounting plate, a clamping block A and a clamping block B;

[0006] The electrical proportional valve and the pneumatic parallel opening and closing jaws are respectively installed on the base, and the output end of the electrical proportional valve is connected with the pneumatic parallel opening and closing jaws. The pneumatic parallel opening and closing jaws have two fingers that can open and close horizontally and symmetrically. Each finger of the pneumatic parallel opening and closing jaws is provided with a clamping jaw connecting seat, and each clamping jaw connecting seat is provided with a clamping block mounting plate, one of the clamping block mounting plates is provided with the clamping block A, and the other clamping block mounting plate is provided with the clamping block B, and the clamping block A and the clamping block B are arranged opposite to each other, and the clamping groove surfaces are respectively concavely provided on the side surfaces opposite to each other of the clamping block A and the clamping block B, and the two opposite clamping groove surfaces clamp the workpiece together, and a vibration motor is installed inside the clamping block A.

[0007] It also includes a grating ruler for detecting the opening and closing displacement of the two clamping jaw connecting seats.

[0008] The grating ruler is installed on the pneumatic parallel opening and closing clamping jaws, and each of the clamping jaw connecting seats is respectively connected to a reading head of the grating ruler.

[0009] The clamping block A and the clamping block B are respectively mounted on corresponding clamping block mounting plates through a set of shock absorbing components.

[0010] Each group of the shock-absorbing components includes a reinforcing plate and a plurality of shock-absorbing rubber blocks. The reinforcing plate is mounted on the clamping block mounting plate. The bottom end of each shock-absorbing rubber block is connected to the reinforcing plate of the same group, and the top end is connected to the corresponding clamping block A or the clamping block B.

[0011] Each of the clamping jaw connecting seats is also provided with a clamping piece mounting plate, and there is a gap between the clamping piece mounting plate on each of the clamping jaw connecting seats and the bottom surface of the clamping block A or the bottom surface of the clamping block B set on the same clamping jaw connecting seat, and each of the clamping piece mounting plates is provided with a plurality of clamping pieces.

[0012] Each of the clamping piece mounting plates is provided with a plurality of mounting holes for adjusting the mounting position of the clamping piece.

[0013] An optical fiber sensor for detecting whether the clamping piece below is clamping a workpiece is installed inside the clamping block B, and a detection hole cooperating with the optical fiber sensor is provided at the bottom of the clamping block B.

[0014] The top of the clamping block A is provided with an installation space A for accommodating the vibration motor, and the top of the clamping block B is provided with an installation space B for accommodating the optical fiber sensor. The top of the clamping block A and the top of the clamping block B are respectively provided with dust covers for closing the installation space A or the installation space B.

[0015] The two clamping groove surfaces are both V-shaped groove surfaces.

[0016] The advantages and positive effects of the present invention are:

[0017] 1. The present invention can be installed on a mobile device or a robot arm, so that it can pick up an object of variable stiffness and has the functions of processing, transferring, clamping, placing and releasing the workpiece to an accurate discrete position.

[0018] 2. The present invention uses the vibration force generated by the vibration motor to separate the variable-rigidity workpiece produced by thermosetting molding from the external container during the workpiece molding through the corresponding vibration mode; in addition, when releasing the workpiece, the mechanical fit formed between the variable-rigidity workpiece and each clamping block or clamping sheet can be effectively broken by vibration, thereby ensuring the reliable release of the workpiece.

[0019] 3. The present invention controls the clamping force proportional output of the pneumatic parallel opening and closing clamping jaws through an electrical proportional valve, so that the clamping is stable and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0021] Figure 2 It is a side view structural schematic diagram of the present invention;

[0022] Figure 3 It is a schematic diagram of the main structure of the present invention;

[0023] Figure 4 It is a schematic diagram of a partially cutaway three-dimensional structure of the present invention.

[0024] In the figure: 101 is the base, 102 is the electric proportional valve, 103 is the pneumatic parallel opening and closing clamp, 104 is the clamp connecting seat, 105 is the grating ruler, 106 is the clamping block mounting plate, 107 is the clamping piece mounting plate, 108 is the clamping block A, 109 is the reinforcement plate, 110 is the clamping block B, 111 is the dust cover, 112 is the shock-absorbing rubber block, 113 is the clamping piece, 114 is the vibration motor, and 115 is the optical fiber sensor. DETAILED DESCRIPTION

[0025] The following is combined with Figure 1-4 The present invention is further described in detail.

[0026] A variable stiffness workpiece grasping mechanism, such as Figure 1-4 As shown, this embodiment includes a base 101, an electric proportional valve 102, a pneumatic parallel opening and closing clamp 103, a clamp connecting seat 104, a clamping block mounting plate 106, a clamping block A 108 and a clamping block B 110.

[0027] The electric proportional valve 102 and the pneumatic parallel opening and closing clamp 103 are respectively mounted on the base 101. The pneumatic parallel opening and closing clamp 103 has two fingers that can be opened and closed horizontally and symmetrically. Each finger of the pneumatic parallel opening and closing clamp 103 is provided with a clamp connection seat 104. Each clamp connection seat 104 is provided with a clamping block mounting plate 106. One of the clamping block mounting plates 106 is provided with a clamping block A 108, and the other clamping block mounting plate 106 is provided with a clamping block B 110. The external shapes of the clamping blocks A 108 and B 110 are basically the same. The clamping blocks A 108 and B 110 are arranged opposite to each other. The side surfaces of the clamping blocks A 108 and B 110 that are opposite to each other are respectively concavely provided with clamping groove surfaces. The two clamping groove surfaces are both V-shaped groove surfaces. The two opposite clamping groove surfaces clamp the workpiece together. The clamping blocks A 108 and B 110 are arranged opposite to each other. A vibration motor 114 is installed inside 108. In this embodiment, the electric proportional valve 102, the pneumatic parallel opening and closing clamping jaws 103 and the vibration motor 114 are all commercially available products, the input end of the electric proportional valve 102 is connected to an external air source, the output end of the electric proportional valve 102 is connected to the pneumatic parallel opening and closing clamping jaws 103 through an air pipe, and the electric proportional valve 102 and the vibration motor 114 are both controlled by an external controller, thereby realizing the clamping force proportional output control.

[0028] Specifically, the variable stiffness workpiece grasping mechanism in this embodiment also includes a grating ruler 105 for detecting the opening and closing displacement of the two clamping jaws 104. The grating ruler 105 is installed on the pneumatic parallel opening and closing clamping jaws 103, and each clamping jaw 104 is respectively connected to a reading head of the grating ruler 105. The grating ruler 105 is a commercially available product and is connected to an external controller. The electrical proportional valve 102 controls the clamping force proportional output of the pneumatic parallel opening and closing clamping jaws 103, and the grating ruler 105 detects the displacement of the pneumatic parallel opening and closing clamping jaws 103. The software algorithm of the external controller forms a force and displacement closed-loop control, making the clamping more stable and accurate; the above-mentioned closed-loop control algorithm of force and displacement is a prior art.

[0029] Specifically, in this embodiment, the clamping block A 108 and the clamping block B 110 are respectively installed on the corresponding clamping block mounting plate 106 through a group of shock absorbing components. Each group of shock absorbing components includes a reinforcing plate 119 and four evenly arranged shock absorbing rubber blocks 112. The reinforcing plate 119 is installed on the clamping block mounting plate 106. The bottom end of each shock absorbing rubber block 112 is respectively connected to the reinforcing plate 119 of the same group, and the top end is respectively connected to the corresponding clamping block A 108 or clamping block B 110. In this embodiment, the clamping block A 108 does not directly contact the corresponding clamping block mounting plate 106. By setting the shock-absorbing assembly on the clamping block mounting plate 106, the vibration force of the vibration motor 114 can be smoothly transmitted to the clamping block A 108, the clamping block B 110 and the workpiece clamped between the clamping block A 108 and the clamping block B 110, and at the same time, the influence of the vibration force of the vibration motor 114 on the pneumatic parallel opening and closing jaws 103 can be suppressed, thereby ensuring the stable operation of the pneumatic parallel opening and closing jaws 103.

[0030] Specifically, in this embodiment, each clamping jaw connecting seat 104 is also provided with a clamping piece mounting plate 107, and there is a gap of five millimeters between the clamping piece mounting plate 107 on each clamping jaw connecting seat 104 and the bottom surface of the clamping block A 108 or the bottom surface of the clamping block B 110 provided on the same clamping jaw connecting seat 104 (even if the clamping piece mounting plate 107 is not in direct contact with the clamping block A 108 or the clamping block B 110), and each clamping piece mounting plate 107 is provided with a plurality of clamping pieces 113. By providing the clamping piece mounting plate 107 provided with the clamping piece 113, another way of clamping a variable rigidity workpiece is provided, and the adaptability to a variety of variable rigidity workpieces is improved. Each clamping piece mounting plate 107 is provided with a plurality of mounting holes for adjusting the mounting position of the clamping piece 113, and the position can be adjusted according to the size of the workpiece to meet the adaptability to the gripping of workpieces of different sizes. In this embodiment, the clamping piece 113 is formed by single-piece stamping, and the forming angle is 89°. In this embodiment, the clamping piece 113 on the clamping piece mounting plate 107 is subjected to the vibration force from the vibration motor 114 and suppressed by the shock absorbing assembly.

[0031] Specifically, in this embodiment, the clamping block B 110 is internally installed with an optical fiber sensor 115 for detecting whether the clamping piece 13 below is clamping a workpiece, and the bottom of the clamping block B 110 is provided with a detection hole that is arranged in cooperation with the optical fiber sensor 115. The optical fiber sensor 115 is a commercially available product and is connected to an external controller. In this embodiment, the optical fiber sensor 115 can specifically detect whether there is a workpiece between the clamping pieces 13 and whether the workpiece falls during the clamping process.

[0032] Specifically, in this embodiment, the top of the clamping block A 108 is provided with an installation space A for accommodating the vibration motor 114, and the top of the clamping block B 110 is provided with an installation space B for accommodating the optical fiber sensor 115, so as to facilitate the installation of the vibration motor 114 and the optical fiber sensor 115. The top of the clamping block A 108 and the top of the clamping block B 110 are respectively provided with dust covers 111 for closing the installation space A or the installation space B to seal and prevent dust.

[0033] Working principle:

[0034] The vibration force generated by the vibration motor 114 causes the variable-rigidity workpiece produced by thermosetting molding to be separated from the external container (such as a mold) during the molding of the workpiece through the corresponding vibration mode; in addition, when releasing the workpiece, the mechanical fit formed between the variable-rigidity workpiece and each clamping block or clamping plate can be effectively broken by vibration, thereby ensuring the reliable release of the workpiece; the electrical proportional valve 102 controls the clamping force proportional output of the pneumatic parallel opening and closing jaws 103, and the grating ruler 105 detects the displacement of the pneumatic parallel opening and closing jaws 103, and a force and displacement closed-loop control is formed through the software algorithm of the external controller, thereby making the clamping more stable and accurate; by providing a clamping plate mounting plate 107 with a clamping plate 113, another method of clamping a variable-rigidity workpiece is provided, and the position can be adjusted according to the size of the workpiece to meet the adaptability to grasping workpieces of different sizes.

Claims

1. A variable stiffness workpiece grasping mechanism, characterized in that: It comprises a base (101), an electric proportional valve (102), a pneumatic parallel opening and closing clamp (103), a clamp connecting seat (104), a clamping block mounting plate (106), a clamping block A (108) and a clamping block B (110); The electric proportional valve (102) and the pneumatic parallel opening and closing clamp (103) are respectively mounted on the base (101); the output end of the electric proportional valve (102) is connected to the pneumatic parallel opening and closing clamp (103); the pneumatic parallel opening and closing clamp (103) has two fingers that can be opened and closed horizontally and symmetrically; each finger of the pneumatic parallel opening and closing clamp (103) is provided with a clamp connection seat (104); each clamp connection seat (104) is provided with a clamping block mounting plate (101); 6), wherein the clamping block A (108) is provided on one of the clamping block mounting plates (106), and the clamping block B (110) is provided on the other clamping block mounting plate (106), the clamping block A (108) and the clamping block B (110) are arranged opposite to each other, and clamping groove surfaces are respectively concavely provided on the side surfaces opposite to each other of the clamping block A (108) and the clamping block B (110), and the two opposite clamping groove surfaces clamp the workpiece together, and a vibration motor (114) is installed inside the clamping block A (108).

2. The variable stiffness workpiece grasping mechanism according to claim 1, characterized in that: It also includes a grating ruler (105) for detecting the opening and closing displacement of the two clamping jaw connecting seats (104).

3. The variable stiffness workpiece grasping mechanism according to claim 2, characterized in that: The grating ruler (105) is mounted on the pneumatic parallel opening and closing clamping jaws (103), and each of the clamping jaw connecting seats (104) is respectively connected to a reading head of the grating ruler (105).

4. The variable stiffness workpiece grasping mechanism according to claim 1, characterized in that: The clamping block A (108) and the clamping block B (110) are respectively mounted on the corresponding clamping block mounting plate (106) through a set of shock absorbing components.

5. The variable stiffness workpiece grasping mechanism according to claim 4, characterized in that: Each group of the shock absorbing components comprises a reinforcing plate (119) and a plurality of shock absorbing rubber blocks (112); the reinforcing plate (119) is mounted on the clamping block mounting plate (106); the bottom end of each shock absorbing rubber block (112) is respectively connected to the reinforcing plate (119) of the same group, and the top end is respectively connected to the corresponding clamping block A (108) or the clamping block B (110).

6. The variable stiffness workpiece grasping mechanism according to claim 1, characterized in that: Each of the clamping jaw connecting seats (104) is also provided with a clamping piece mounting plate (107), and a gap is provided between the clamping piece mounting plate (107) on each of the clamping jaw connecting seats (104) and the bottom surface of the clamping block A (108) or the bottom surface of the clamping block B (110) provided on the same clamping jaw connecting seat (104), and each of the clamping piece mounting plates (107) is provided with a plurality of clamping pieces (113).

7. The variable stiffness workpiece grasping mechanism according to claim 6, characterized in that: Each of the clamping piece mounting plates (107) is provided with a plurality of mounting holes for adjusting the mounting position of the clamping piece (113).

8. The variable stiffness workpiece grasping mechanism according to claim 6, characterized in that: An optical fiber sensor (115) for detecting whether a workpiece is clamped by a clamping piece (113) below is installed inside the clamping block B (110), and a detection hole for cooperating with the optical fiber sensor (115) is provided at the bottom of the clamping block B (110).

9. The variable stiffness workpiece grasping mechanism according to claim 8, characterized in that: The top of the clamping block A (108) is provided with an installation space A for accommodating the vibration motor (114), and the top of the clamping block B (110) is provided with an installation space B for accommodating the optical fiber sensor (115). The top of the clamping block A (108) and the top of the clamping block B (110) are respectively provided with dust covers (111) for closing the installation space A or the installation space B.

10. The variable stiffness workpiece grasping mechanism according to claim 1, characterized in that: The two clamping groove surfaces are both V-shaped groove surfaces.

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